CoordinatorBase.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ...
 * @author     Jianfeng Gao ( jianfeng dot gao at kit dot edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/Robot.h>
 
#include <ArmarXCore/util/CPPUtility/TripleBuffer.h>
 
// #include <armarx/control/common/control_law/CollisionAvoidance.h>
// #include <armarx/control/common/control_law/aron/CollisionAvoidanceConfig.aron.generated.h>
 
// #include <simox/control/dynamics/RBDLModel.h>
// #include <simox/control/environment/CollisionRobotInterface.h>
// #include <simox/control/environment/fwd.h>
// #include <simox/control/impl/simox/robot/Robot.h>
// #include <simox/control/robot/RobotInterface.h>
 
//#include <armarx/control/common/common.aron.generated.h>
//#include <armarx/control/common/coordination/CoordinationCore.h>
//#include <armarx/control/common/coordination/SyncCoordination.h>
 
namespace armarx::control::njoint_controller::core
{
 
    // namespace law = armarx::control::common::control_law;
 
    /**
    * @defgroup Library-njoint_controller/core CoordinatorBase
    * @ingroup Library-njoint_controller/core
    * A description of the library CoordinatorBase.
    *
    * @class CoordinatorBase
    * @ingroup Library-CoordinatorBase
    * @brief Brief description of class CoordinatorBase.
    *
    * Detailed description of class CoordinatorBase.
    */
    class CoordinatorBase
    {
 
    public:
        //        using PoseFrameMode = armarx::control::common::arondto::PoseFrameMode;
 
        struct NodeSetData
        {
        };
 
        CoordinatorBase();
        ~CoordinatorBase();
 
        //        void useCoordinator(const std::string& type,
        //                            const ::armarx::aron::data::dto::DictPtr& dto,
        //                            const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
        //        void disableCoordinator(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
 
        //        void rtRunCoordinator(double deltaT);
        //        void updateInputData(const std::string& key,
        //                             const Eigen::Matrix4f& targetPose,
        //                             const PoseFrameMode targetPoseMode,
        //                             const Eigen::Matrix4f& pose,
        //                             const Eigen::Vector6f& vel,
        //                             const Eigen::Vector6f& ft,
        //                             const Eigen::Vector6f& stiffness);
 
 
        //    protected:
        //        /// coordinator
        //        std::atomic_bool coordinatorEnabled = false;
        //        std::shared_ptr<common::coordination::SyncCoordination> coordinator = nullptr;
        //        std::map<std::string, common::coordination::InputData> coordinatorInputData;
 
        //        // private:
    };
 
    // using CoordinatorBasePtr = std::shared_ptr<CoordinatorBase>;
} // namespace armarx::control::njoint_controller::core